Telepresence robot with a printer

ABSTRACT

A remote controlled robot system that includes a robot and a remote controlled station. The robot includes a camera and a printer coupled to a mobile platform. The remote control station may display one or more graphical user interfaces with data fields. The graphical user interfaces allow a user to enter information into the data fields. The information is then transmitted to the robot and printed by the robot printer. The information may include a medical prescription and the name of the patient. Providing a robot printer allows the user to directly provide a medical prescription while remotely observing and interacting with the patient.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The subject matter disclosed generally relates to the field of mobiletwo-way teleconferencing.

2. Background Information

Robots have been used in a variety of applications ranging from remotecontrol of hazardous material to assisting in the performance ofsurgery. For example, U.S. Pat. No. 5,762,458 issued to Wang et al.discloses a system that allows a surgeon to perform minimally invasivemedical procedures through the use of robotically controlledinstruments. One of the robotic arms in the Wang system moves anendoscope that has a camera. The camera allows a surgeon to view asurgical area of a patient.

Tele-robots such as hazardous waste handlers and bomb detectors maycontain a camera that allows the operator to view the remote site.Canadian Pat. No. 2289697 issued to Treviranus, et al. discloses ateleconferencing platform that has both a camera and a monitor. Theplatform includes mechanisms to both pivot and raise the camera andmonitor. The Treviranus patent also discloses embodiments with a mobileplatform, and different mechanisms to move the camera and the monitor.

There has been marketed a mobile robot introduced by InTouchTechnologies, Inc., the assignee of this application, under thetrademark RP-7. The InTouch robot is controlled by a user at a remotestation. The remote station may be a personal computer with a joystickthat allows the user to remotely control the movement of the robot. Boththe robot and remote station have cameras, monitors, speakers andmicrophones to allow for two-way video/audio communication. The robotcamera provides video images to a screen at the remote station so thatthe user can view the robot's surroundings and move the robotaccordingly.

The InTouch robot system can be used by doctors to remotely view anddiagnose patients. For example, a doctor can move the robot from room toroom at a medical facility to observe and interact with patients. If thediagnosis requires the prescription of drugs the doctor must fax theprescription to the medical facility. This process can be time consumingand is ripe for error. It would be desirable to provide a remote controlrobot system that would allow the user to more readily provide a patientwith a prescription or other information.

BRIEF SUMMARY OF THE INVENTION

A remote controlled robot that has a camera and an output device such asa printer coupled to a mobile platform.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a robotic system;

FIG. 2 is an illustration of a graphical user interface;

FIG. 3 is an illustration of a graphical user interface;

FIG. 4 is an illustration of a graphical user interface;

FIG. 5 is an illustration of a print-out;

FIG. 6 is an illustration of a graphical user interface;

FIG. 7 is an illustration of a graphical user interface;

FIG. 8 is a schematic of an electrical system of the robot;

FIG. 9 is a further schematic of the electrical system of the robot;

FIG. 10 is an illustration of a robot;

FIG. 11 is a graphical user interface of a remote station.

FIG. 12 is an illustration of a robot head.

DETAILED DESCRIPTION

Disclosed is a remote controlled robot system that includes a robot anda remote controlled station. The robot includes a camera and a printercoupled to a mobile platform. The remote control station may display oneor more graphical user interfaces with data fields. The graphical userinterfaces allow a user to enter information into the data fields. Theinformation is then transmitted to the robot and printed by the robotprinter. The information may include a medical prescription and the nameof the patient. Providing a robot printer allows the user to directlyprovide a medical prescription while remotely observing and interactingwith a patient.

Referring to the drawings more particularly by reference numbers, FIG. 1shows a robotic system 10 that can be used to conduct a remote visit.The robotic system 10 includes a robot 12, a base station 14 and aremote control station 16. The remote control station 16 may be coupledto the base station 14 through a network 18. By way of example, thenetwork 18 may be either a packet switched network such as the Internet,or a circuit switched network such has a Public Switched TelephoneNetwork (PSTN) or other broadband system. The base station 14 may becoupled to the network 18 by a modem 20 or other broadband networkinterface device. By way of example, the base station 14 may be awireless router. Alternatively, the robot 12 may have a directconnection to the network thru for example a satellite.

The remote control station 16 may include a computer 22 that has amonitor 24, a camera 26, a microphone 28 and a speaker 30. The computer22 may also contain an input device 32 such as a joystick or a mouse.The control station 16 is typically located in a place that is remotefrom the robot 12. Although only one remote control station 16 is shown,the system 10 may include a plurality of remote stations. In general anynumber of robots 12 may be controlled by any number of remote stations16 or other robots 12. For example, one remote station 16 may be coupledto a plurality of robots 12, or one robot 12 may be coupled to aplurality of remote stations 16, or a plurality of robots 12.

Each robot 12 includes a movement platform 34 that is attached to arobot housing 36. Also attached to the robot housing 36 is a camera 38,a monitor 40, a microphone(s) 42 and a speaker(s) 44. The microphone 42and speaker 30 may create a stereophonic sound. The robot 12 may alsohave an antenna 46 that is wirelessly coupled to an antenna 48 of thebase station 14. The system 10 allows a user at the remote controlstation 16 to move the robot 12 through operation of the input device32. The robot camera 38 is coupled to the remote monitor 24 so that auser at the remote station 16 can view a subject such as a patient.Likewise, the robot monitor 40 is coupled to the remote camera 26 sothat the patient can view the user. The microphones 28 and 42, andspeakers 30 and 44, allow for audible communication between the patientand the user.

The remote station computer 22 may operate Microsoft OS software andWINDOWS XP or other operating systems such as LINUX. The remote computer22 may also operate a video driver, a camera driver, an audio driver anda joystick driver. The video images may be transmitted and received withcompression software such as MPEG CODEC.

The robot 12 includes a printer 50 that is attached to the robot housing36 and coupled to the mobile platform 34. The printer 50 can printinformation on printer paper 52 attached thereto. To minimize space andthe profile of the robot the printer 50 may be a customized panelmounted thermal device. The printer 50 can print information provided bythe remote control station 16.

The remote control station 16 may display a plurality of graphical userinterfaces. FIG. 2 shows a graphical user interface 60 that displays aplurality of tabs in an ADVANCED CONTROLS section of the stationoperating system. One of the tabs may be a PRINTER tab 62. Selection ofthe PRINTER tab 62 may cause the display of the graphical user interface64 shown in FIG. 3. The interface 64 may include a PATIENT data field66, a PATIENT ID data field 68 and a ROOM data field 70. The user canenter appropriate data into the fields 66, 68 and 70. The PATIENT field66 may include a drop down button 72 that can be selected to display adrop down menu with the names of patients that have been stored and/orpreviously entered into the system. Selecting one of the names from thedrop down menu can cause the automatic population of the PATIENT ID 68and ROOM 70 fields, respectively.

The user can select the NEXT button 74 which may cause the display ofthe graphical user interface 76 shown in FIG. 4. The graphical userinterface 76 may have a ENTER ORDER TEXT data field 78. The field 78allows a user to enter information such as a medical prescription. Theuser can then select a PRINT button 80 which causes the remote controlstation to send the information entered into fields 66, 68, 70 and/or 78to the robot. The robot printer then prints the information in fields66, 68, 70 and/or 78. The interface 76 may also have a BACK button 82that can be selected to re-display the graphical user interface 64. Theuser can then repeat the process for a new prescription order and/orpatient.

FIG. 5 provides an example of a print-out 84 of the information providedby the remote station. The system allows a doctor to remotely observeand diagnose a patient, and provide a medical prescription through therobot and printer.

The system may allow for password authentication to print theinformation. It may be desirable to insure that the information iselectronically authenticated to prevent unauthorized personnel fromordering prescriptions. FIG. 6 shows a graphical user interface 86 witha PASSWORD data field 88, a RETYPE PASSWORD data field 90 and a PASSWORDHINT data field 92. The user can create a password by entering relevantinformation into fields 88 and 90. A password hint can be entered intofield 92. The creation of the password and hint can be completed byselecting the DONE button 94.

Selecting the PRINT button 78 in the graphical user interface 74 cancause the display of the graphical user interface 96 shown in FIG. 7.The interface 96 includes a PASSWORD data field 98 that allows the userto enter their password. The user can then select an OK button 100 tocause the information (e.g., data in fields 66, 68, 70 and/or 78) to beprinted by the robot printer. If the entered password is incorrect aprompt may be displayed so the user enters a new password or selects theFORGOT PASSWORD button 102 to display the hint that was created in field92 of interface 88.

FIGS. 8 and 9 show an embodiment of a robot 12. Each robot 12 mayinclude a high level control system 150 and a low level control system152. The high level control system 150 may include a processor 154 thatis connected to a bus 156. The bus 156 is coupled to the camera 38 by aninput/output (I/O) port 158. The monitor 40 is coupled to the bus 156 bya serial output port 160 and a VGA driver 162. The monitor 40 mayinclude a touchscreen function that allows the patient to enter input bytouching the monitor screen.

The speaker 44 is coupled to the bus 156 by a digital to analogconverter 164. The microphone 42 is coupled to the bus 156 by an analogto digital converter 166. The high level controller 150 may also containrandom access memory (RAM) device 168, a non-volatile RAM device 170 anda mass storage device 172 that are all coupled to the bus 156. The massstorage device 172 may contain medical files of the patient that can beaccessed by the user at the remote control station 16. For example, themass storage device 172 may contain a picture of the patient. The user,particularly a health care provider, can recall the old picture and makea side by side comparison on the monitor 24 with a present video imageof the patient provided by the camera 38. The robot antennae 46 may becoupled to a wireless transceiver 174. By way of example, thetransceiver 174 may transmit and receive information in accordance withIEEE 802.11b.

The printer 50 is coupled to the bus 156 by a serial output port 175.The serial port 175 may include a Universal AsynchronousReceiver/Transmitter (“UART”) interface.

The controller 154 may operate with a LINUX OS operating system. Thecontroller 154 may also operate MS WINDOWS along with video, camera andaudio drivers for communication with the remote control station 16.Video information may be transceived using MPEG CODEC compressiontechniques. The software may allow the user to send e-mail to thepatient and vice versa, or allow the patient to access the Internet. Ingeneral the high level controller 150 operates to control communicationbetween the robot 12 and the remote control station 16.

The remote control station 16 may include a computer that is similar tothe high level controller 150. The computer would have a processor,memory, I/O, software, firmware, etc. for generating, transmitting,receiving and processing information.

The high level controller 150 may be linked to the low level controller152 by serial ports 176 and 178. The low level controller 152 includes aprocessor 180 that is coupled to a RAM device 182 and non-volatile RAMdevice 184 by a bus 186. Each robot 12 contains a plurality of motors188 and motor encoders 190. The motors 188 can actuate the movementplatform and move other parts of the robot such as the monitor andcamera. The encoders 190 provide feedback information regarding theoutput of the motors 188. The motors 188 can be coupled to the bus 186by a digital to analog converter 192 and a driver amplifier 194. Theencoders 190 can be coupled to the bus 186 by a decoder 196. Each robot12 also has a number of proximity sensors 198 (see also FIG. 1). Thesensors 198 can be coupled to the bus 186 by a signal conditioningcircuit 200 and an analog to digital converter 202.

The low level controller 152 runs software routines that mechanicallyactuate the robot 12. For example, the low level controller 152 providesinstructions to actuate the movement platform to move the robot 12. Thelow level controller 152 may receive movement instructions from the highlevel controller 150. The movement instructions may be received asmovement commands from the remote control station or another robot.Although two controllers are shown, it is to be understood that eachrobot 12 may have one controller, or more than two controllers,controlling the high and low level functions.

The various electrical devices of each robot 12 may be powered by abattery(ies) 204. The battery 204 may be recharged by a batteryrecharger station 206 (see also FIG. 1). The low level controller 152may include a battery control circuit 208 that senses the power level ofthe battery 204. The low level controller 152 can sense when the powerfalls below a threshold and then send a message to the high levelcontroller 150.

FIG. 10 shows an embodiment of the robot 12. The robot 12 may include aholonomic platform 250 that is attached to a robot housing 250. Theholonomic platform 250 provides three degrees of freedom to allow therobot 12 to move in any direction.

The robot 12 may have a pedestal assembly 254 that supports the camera38 and the monitor 40. The pedestal assembly 254 may have two degrees offreedom so that the camera 38 and monitor 40 can together be swiveledand pivoted as indicated by the arrows.

The platform 250 is located within a platform reference coordinatesystem that may have axes X_(p), Y_(p) and Z_(p). By way of example, they-axis Y_(p) may extend from a nose of the platform 250. The camera 38is fixed to a camera reference coordinate system that may have axesX_(c), Y_(c) and Z_(c). The y-axis Y_(c) may extend perpendicular fromthe camera lens. When the robot is initialized, the y-axis Y_(c) of thecamera coordinate system may be aligned with the y-axis Y_(p) of theplatform coordinate system. A forward pivoting of the joystick 32 (shownin FIG. 1) may cause a corresponding movement of the platform 250 in thedirection of the y-axis Y_(p) in the platform coordinate system.

The robot may have a drive vector that may have axes X_(d), Y_(d), andZ_(d) that is mapped to the camera coordinate system, the platformcoordinate system or some other system. By way of example, the y-axisY_(p) may extend in the direction of forward motion. Mapping includesthe process of transforming an input command into a directional movementrelative to one or more coordinate systems. The robot controller mayperform certain algorithms to translate input commands to platformmovement in accordance with a specified mapping scheme. For example,when the drive vector is mapped to the camera coordinate system thecontroller computes the drive vector of the input command relative tothe camera coordinate system. In a platform mapping scheme the inputdrive vector is computed relative to the platform coordinate system. Inyet another scheme the drive vector can be computed relative to anothercoordinate system, such as a world coordinate system (e.g. coordinatesystem relative to the ground) that is independent of the camera orplatform coordinate systems. Mapping the drive vector to the cameracoordinate system may be desirable because all movement would berelative to the image viewed by the user, providing a system that isintuitive to use.

A twisting of the joystick 32 may cause the camera 38 to swivel asindicated by arrows 4. For example, if the joystick 32 is twisted +45degrees the camera 38 will pivot +45 degrees. Swiveling the camera 38also moves the y-axis Y_(c) of the camera coordinate system, because they-axis Y_(c) is fixed to the camera. This may be different than thedrive direction. The remote station computer may operate a program togenerate a command that will automatically rotate the platform 250 torealign the y-axis Y_(p) of the platform coordinate system with they-axis Y_(c) of the camera coordinate system. For the above example, theplatform 250 is rotated +45 degrees. This approach keeps the platform250 aligned with the camera 38, so that any subsequent movement of therobot will be intuitive relative to the image provided by the camera.For example, a forward pivot of the joystick will induce a forwardmovement of the robot as viewed through the monitor of the remotestation. In this driving scheme, the platform may not be aligned withthe head. The computer may generate trajectory planning for the platformcoordinate system to move into alignment with the head coordinate systemover a period of time or distance traveled, with or without an initialdelay in time or some distance.

The system may be configured so that pivotal movement of the joystick 32may be mapped to a corresponding directional movement of the robot. Forexample, pivoting the joystick along a +45 degree may cause the robot tomove in a +45 degree direction relative to the y-axis Y_(c) of thecamera coordinate frame. Alternatively, the camera may pan +45 degreesand the platform 250 may rotate +45 degrees before forward movement bythe robot. The automatic panning and platform rotation causes the robotto move in a forward direction as depicted by the image provided by thecamera. The robot may have a mode wherein the user can twist thejoystick to pan the camera during robot movement such that the movementis not in the direction the camera is pointing. This allows the user tovisually pan while moving the robot. The joystick may have a springreturn that automatically returns the position of the stick whenreleased by the user. This causes the camera to be aligned with thedirection of movement.

In general the robot may have a number of different mapping schemes andrelative, dependent or independent, movement between the camera, theplatform and drive direction. Relative movement between the camera andplatform may occur in a camera based mapping scheme, a platform basedmapping scheme, or some other scheme.

Although, the automatic platform rotation commands have been describedas be generated by the remote station computer, it is to be understoodthat the robot may determine the commands and signals necessary tore-orient the platform 250 and/or the camera 38. The robot 12 mayinclude a potentiometer (not shown) that tracks the position of thecamera and provides feedback to the low level controller 180. The lowlevel controller 180 may automatically rotate the platform to align they-axes Y_(c) and Y_(p) or otherwise compensate for camera movement. Amode button (not shown) may allow the operator to place the system ineither a tracking mode or a normal mode. In the tracking mode the robotmoves relative to the camera coordinate system so that movement isintuitive relative to the screen even when the camera is panned. Innormal mode the robot moves within the platform coordinate system.

The robot 12 includes a printer 256 that prints information on printerpaper 258. The information may be provided by a remote control stationconnected to the robot

The system may be the same or similar to a robotic system provided bythe assignee InTouch-Health, Inc. of Santa Barbara, Calif. under thename RP-7. The system may also be the same or similar to the systemdisclosed in U.S. Pat. No. 6,925,357 issued Aug. 2, 2005, which ishereby incorporated by reference.

FIG. 11 shows a display user interface (“DUI”) 300 that can be displayedat the remote station 16. The DUI 300 may include a robot view field 302that displays a video image provided by the camera of the robot. The DUI300 may also include a station view field 304 that displays a videoimage provided by the camera of the remote station 16. The DUI 300 maybe part of an application program stored and operated by the computer 22of the remote station 16. The display user interface and the variousfeatures and functions provided by the interface may be the same orsimilar as the DUI provided by the RP-7 system.

The DUI 300 may also have a control button 306 that can be selected todisplay the interface shown in FIG. 2.

In operation, the robot 12 may be placed in a home or a facility whereone or more patients are to be monitored and/or assisted. The facilitymay be a hospital or a residential care facility. By way of example, therobot 12 may be placed in a home where a health care provider maymonitor and/or assist the patient. Likewise, a friend or family membermay communicate with the patient. The cameras and monitors at both therobot and remote control stations allow for teleconferencing between thepatient and the person at the remote station(s).

The robot 12 can be maneuvered through the home or a facility bymanipulating the input device 32 at a remote station 16. The robot 10may be controlled by a number of different users. To accommodate forthis the robot may have an arbitration system. The arbitration systemmay be integrated into the operating system of the robot 12. Forexample, the arbitration technique may be embedded into the operatingsystem of the high-level controller 150.

By way of example, the users may be divided into classes that includethe robot itself, a local user, a caregiver, a doctor, a family member,or a service provider. The robot 12 may override input commands thatconflict with robot operation. For example, if the robot runs into awall, the system may ignore all additional commands to continue in thedirection of the wall. A local user is a person who is physicallypresent with the robot. The robot could have an input device that allowslocal operation. For example, the robot may incorporate a voicerecognition system that receives and interprets audible commands.

A caregiver is someone who remotely monitors the patient. A doctor is amedical professional who can remotely control, the robot and also accessmedical files contained in the robot memory. The family and serviceusers remotely access the robot. The service user may service the systemsuch as by upgrading software, or setting operational parameters.

The robot 12 may operate in one of two different modes; an exclusivemode, or a sharing mode. In the exclusive mode only one user has accesscontrol of the robot. The exclusive mode may have a priority assigned toeach type of user. By way of example, the priority may be in order oflocal, doctor, caregiver, family and then service user. In the sharingmode two or more users may share access with the robot. For example, acaregiver may have access to the robot, the caregiver may then enter thesharing mode to allow a doctor to also access the robot. Both thecaregiver and the doctor can conduct a simultaneous tele-conference withthe patient.

The system 10 can be used for doctor proctoring where a doctor at theremote station provides instructions and feedback to a doctor located inthe vicinity of the robot. For example, a doctor at the remote locationcan view a patient and assist a doctor at the patient location in adiagnosis. Likewise, the remote doctor can assist in the performance ofa medical procedure at the robot location.

The arbitration scheme may have one of four mechanisms; notification,timeouts, queue and call back. The notification mechanism may informeither a present user or a requesting user that another user has, orwants, access to the robot. The timeout mechanism gives certain types ofusers a prescribed amount of time to finish access to the robot. Thequeue mechanism is an orderly waiting list for access to the robot. Thecall back mechanism informs a user that the robot can be accessed. Byway of example, a family user may receive an e-mail message that therobot is free for usage. Tables I and II, show how the mechanismsresolve access request from the various users.

TABLE I Access Medical Command Software/Debug Set User Control RecordOverride Access Priority Robot No No Yes (1) No No Local No No Yes (2)No No Caregiver Yes Yes Yes (3) No No Doctor No Yes No No No Family NoNo No No No Service Yes No Yes Yes Yes

TABLE II Requesting User Local Caregiver Doctor Family Service CurrentUser Local Not Allowed Warn current user of Warn current user of Warncurrent user of Warn current user of pending user pending user pendinguser pending user Notify requesting Notify requesting user Notifyrequesting user Notify requesting user that system is in that system isin use that system is in use user that system is in use Set timeout = 5m Set timeout = 5 m use Set timeout Call back No timeout Call backCaregiver Warn current user Not Allowed Warn current user of Warncurrent user of Warn current user of of pending user. pending userpending user pending user Notify requesting Notify requesting userNotify requesting user Notify requesting user that system is that systemis in use that system is in use user that system is in in use. Settimeout = 5 m Set timeout = 5 m use Release control Queue or callback Notimeout Callback Doctor Warn current user Warn current user of Warncurrent user of Notify requesting user Warn current user of of pendinguser pending user pending user that system is in use pending user Notifyrequesting Notify requesting Notify requesting user No timeout Notifyrequesting user that system is user that system is in that system is inuse Queue or callback user that system is in in use use No timeout useRelease control Set timeout = 5 m Callback No timeout Callback FamilyWarn current user Notify requesting Warn current user of Warn currentuser of Warn current user of of pending user user that system is inpending user pending user pending user Notify requesting use Notifyrequesting user Notify requesting user Notify requesting user thatsystem is No timeout that system is in use that system is in use userthat system is in in use Put in queue or Set timeout = 1 m Set timeout =5 m use Release Control callback Queue or callback No timeout CallbackService Warn current user Notify requesting Warn current user of Warncurrent user of Not Allowed of pending user user that system is inrequest pending user Notify requesting use Notify requesting user Notifyrequesting user user that system is No timeout that system is in usethat system is in use in use Callback No timeout No timeout No timeoutCallback Queue or callback

The information transmitted between the station 16 and the robot 12 maybe encrypted. Additionally, the user may have to enter a password toenter the system 10. A selected robot is then given an electronic key bythe station 16. The robot 12 validates the key and returns another keyto the station 16. The keys are used to encrypt information transmittedin the session.

The robot 12 and remote station 16 transmit commands through thebroadband network 18. The commands can be generated by the user in avariety of ways. For example, commands to move the robot may begenerated by moving the joystick 32 (see FIG. 1). The commands arepreferably assembled into packets in accordance with TCP/IP protocol.Table III provides a list of control commands that are generated at theremote station and transmitted to the robot through the network.

TABLE III Control Commands Command Example Description drive drive 10.00.0 5.0 The drive command directs the robot to move at the specifiedvelocity (in cm/sec) in the (x, y) plane, and turn its facing at thespecified rate (degrees/sec). goodbye goodbye The goodbye commandterminates a user session and relinquishes control of the robotgotoHomePosition gotoHomePosition 1 The gotoHomePosition command movesthe head to a fixed “home” position (pan and tilt), and restores zoom todefault value. The index value can be 0, 1, or 2. The exact pan/tiltvalues for each index are specified in robot configuration files. headhead vel pan 5.0 tilt The head command controls the head motion. 10.0 Itcan send commands in two modes, identified by keyword: either positional(“pos”) or velocity (“vol”). In velocity mode, the pan and tilt valuesare desired velocities of the head on the pan and tilt axes, indegree/sec. A single command can include just the pan section, or justthe tilt section, or both. keepalive keepalive The keepalive commandcauses no action, but keeps the communication (socket) link open so thata session can continue. In scripts, it can be used to introduce delaytime into the action. odometry odometry 5 The odometry command enablesthe flow of odometry messages from the robot. The argument is the numberof times odometry is to be reported each second. A value of 0 turnsodometry off. reboot reboot The reboot command causes the robot computerto reboot immediately. The ongoing session is immediately broken off.restoreHeadPosition restoreHeadPosition The restoreHeadPositionfunctions like the gotoHomePosition command, but it homes the head to aposition previously saved with gotoHomePosition. saveHeadPositionsaveHeadPosition The saveHeadPosition command causes the robot to savethe current head position (pan and tilt) in a scratch location intemporary storage so that this position can be restored. Subsequentcalls to “restoreHeadPosition” will restore this saved position. Eachcall to saveHeadPosition overwrites any previously saved position.setCameraFocus setCameraFocus 100.0 The setCameraFocus command controlsfocus for the camera on the robot side. The value sent is passed “raw”to the video application running on the robot, which interprets itaccording to its own specification. setCameraZoom setCameraZoom 100.0The setCameraZoom command controls zoom for the camera on the robotside. The value sent is passed “raw” to the video application running onthe robot, which interprets it according to its own specification.shutdown Shutdown The shutdown command shuts down the robot and powersdown its computer. stop stop The stop command directs the robot to stopmoving immediately. It is assumed this will be as sudden a stop as themechanism can safely accommodate. timing Timing 3245629 500 The timingmessage is used to estimate message latency. It holds the UCT value(seconds + milliseconds) of the time the message was sent, as recordedon the sending machine. To do a valid test, you must compare results ineach direction (i.e., sending from machine A to machine B, then frommachine B to machine A) in order to account for differences in theclocks between the two machines. The robot records data internally toestimate average and maximum latency over the course of a session, whichit prints to log files. userTask userTask “Jane Doe” The userTaskcommand notifies the robot of “Remote Visit” the current user and task.It typically is sent once at the start of the session, although it canbe sent during a session if the user and/or task change. The robot usesthis information for record-keeping. print print -doctor The printcommand causes the robot printer “<string>” -patient to printaccompanying information. “<string>” -order “<string>” [-room“<string>”] [-id “<string>”]

Table IV provides a list of reporting commands that are generated by therobot and transmitted to the remote station through the network.

TABLE IV Reporting Commands Command Example Description abnormalExitabnormalExit This message informs the user that the robot software hascrashed or otherwise exited abnormally. Te robot software catches top-level exceptions and generates this message if any such exceptionsoccur. bodyType bodyType 3 The bodyType message informs the stationwhich type body (using the numbering of the mechanical team) the currentrobot has. This allows the robot to be drawn correctly in the stationuser interface, and allows for any other necessary body-specificadjustments. driveEnabled driveEnabled true This message is sent at thestart of a session to indicate whether the drive system is operational.emergencyShutdown emergencyShutdown This message informs the stationthat the robot software has detected a possible “runaway” condition (anfailure causing the robot to move out of control) and is shutting theentire system down to prevent hazardous motion. odometry odometry 10 20340 The odometry command reports the current (x, y) position (cm) andbody orientation (degrees) of the robot, in the original coordinatespace of the robot at the start of the session. sensorGroup group_dataSensors on the robot are arranged into groups, each group of a singletype (bumps, range sensors, charge meter, etc.) The sensorGroup messageis sent once per group at the start of each session. It contains thenumber, type, locations, and any other relevant data for the sensors inthat group. The station assumes nothing about the equipment carried onthe robot; everything it knows about the sensors comes from thesensorGroup messages. sensorState groupName state data The sensorStatecommand reports the current state values for a specified group ofsensor. The syntax and interpretation for the state data is specific toeach group. This message is sent once for each group at each sensorevaluation (normally several times per second). systemError systemErrorThis message informs the station user of a driveController failure inone of the robot's subsystems. The error_type argument indicates whichsubsystem failed, including driveController, sensorController, headHome.systemInfo systemInfo wireless 45 This message allows regular reportingof information that falls outside the sensor system such as wirelesssignal strength. text text “This is some The text string sends a textstring from the text” robot to the station, where the string isdisplayed to the user. This message is used mainly for debugging.version version 1.6 This message identifies the software versioncurrently running on the robot. It is sent once at the start of thesession to allow the station to do any necessary backward compatibilityadjustments.

The processor 154 of the robot high level controller 150 may operate aprogram that determines whether the robot 12 has received a robotcontrol command within a time interval. For example, if the robot 12does not receive a control command within 2 seconds then the processor154 provides instructions to the low level controller 150 to stop therobot 12. Although a software embodiment is described, it is to beunderstood that the control command monitoring feature could beimplemented with hardware, or a combination of hardware and software.The hardware may include a timer that is reset each time a controlcommand is received and generates, or terminates, a command or signal,to stop the robot.

The remote station computer 22 may monitor the receipt of video imagesprovided by the robot camera. The computer 22 may generate and transmita STOP command to the robot if the remote station does not receive ortransmit an updated video image within a time interval. The STOP commandcauses the robot to stop. By way of example, the computer 22 maygenerate a STOP command if the remote control station does not receive anew video image within 2 seconds. Although a software embodiment isdescribed, it is to be understood that the video image monitoringfeature could be implemented with hardware, or a combination of hardwareand software. The hardware may include a timer that is reset each time anew video image is received and generates, or terminates, a command orsignal, to generate the robot STOP command.

The robot may also have internal safety failure features. For example,the robot may monitor communication between the robot controller and therobot servo used to operate the platform motors. The robot monitor mayswitch a relay to terminate power to the platform motors if the monitordetects a lack of communication between the robot controller and themotor servo.

The remote station may also have a safety feature for the input device32. For example, if there is no input from the joystick for a certaintime interval (e.g. 10 seconds) the computer 22 may not relay subsequentinput unless the user presses a button for another time interval (e.g. 2seconds), which reactivates the input device.

FIG. 12 shows another embodiment of the robot as a robot head 350 thatcan both pivot and spin the camera 38 and the monitor 40. The robot head350 is controlled by a user operating a control station. The robot head350 can be similar to the robot 12 but without the platform 250. Therobot head 350 may have actuators 352 and linkages 354 to pivot thecamera 38 and monitor 40 about a pivot axis 4, and spin the camera 38and monitor 40 about a spin axis 5. The pivot axis may intersect thespin axis. Having a robot head 350 that both pivots and spins provides awide viewing area.

The robot head 350 may be in the system either with or instead of themobile robot 12. The robot head can be particularly useful for doctorproctoring. The head can be located at a medical facility such as anemergency room or a doctor's office. A doctor at the remote location canassist in the diagnosis and medical treatment of a patient located atthe robot location. The doctor can move the head to view the patientthrough control commands from the remote control station. Doctorproctoring can also be performed with a mobile robot 12.

The robot head 350 has a printer 356 that can print information onprinter paper 358. The information may be provided by a remote controlstation connected to the robot head.

While certain exemplary embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat this invention not be limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those ordinarily skilled in the art.

Although a printer is shown and described, the robot may have othermechanisms, subassemblies, etc. that create a tangible object inresponse to commands and instructions from the remote station. Forexample, the robot may include a 3-D rapid prototyping output device.For example, the rapid prototyping device may be a product sold byDesktop Factory of Pasadena, Calif. The remote station may include 3-Dmodeling software. For example, the remote station may have an Autodesk3-D modeling software. The user at the remote station can create a 3-Dmodel and then transmit the data to the robot. The data can include aseries of software instructions and data, collectively referred to ascommands, that can be interpreted to build the model. The robot thenprocesses the data to create a physical model with its rapid prototypingoutput device.

What is claimed is:
 1. A remote controlled telepresence robot system,comprising: a robot that includes a mobile platform, a camera thatcaptures a robot image, a monitor, a speaker and a microphone coupled tosaid mobile platform; a printer coupled to said robot; and, a remotecontrol station that controls said robot and provides information tosaid robot that is printed by said printer, said remote control stationincluding a monitor coupled to said robot camera to display said robotimage, a camera that captures an operator image that is displayed bysaid robot monitor, a speaker coupled to said robot microphone and amicrophone coupled to said robot speaker.
 2. The system of claim 1,wherein said remote control station includes one or more graphical userinterfaces with a plurality of data fields.
 3. The system of claim 2,wherein one of said data field includes a user password.
 4. The systemof claim 2, wherein one of said data fields is a prescription orderfield.
 5. The system of claim 2, wherein one of said data fieldsincludes a patient field.
 6. The system of claim 1, wherein said robotmonitor and said camera move together in at least two degrees offreedom.
 7. The system of claim 1, further comprising a medicalprescription printed by said printer.
 8. A method for remotely printinginformation with a remote controlled telepresence mobile robot,comprising: transmitting information from a remote control station to amobile robot, the mobile robot including a mobile platform, and a camerathat captures a robot image, a monitor, a speaker and a microphonecoupled to the mobile platform, the remote station including a monitorcoupled to the robot camera to display said robot image, a camera thatcaptures an operator image that is displayed by the robot monitor, aspeaker coupled to the robot microphone and a microphone coupled to therobot speaker; and, printing the information from a printer coupled tothe mobile robot.
 9. The method of claim 8, wherein the remote controlstation displays one or more graphical user interfaces with a pluralityof data fields.
 10. The method of claim 9, wherein a user enters a userpassword into one or more of the data fields.
 11. The method of claim 9,wherein a user enters a prescription order into one or more of the datafields and the prescription order is printed by the robot printer. 12.The method of claim 9, wherein a user enters patient information intoone or more of the data fields and the patient information is printed bythe robot printer.